#ifndef NN_CONTROLLER_H
#define NN_CONTROLLER_H
/**
 * Copyright (c)  2012, William Ulrich
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:1
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the fo1llowing disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the <ORGANIZATION> nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#include <ros/ros.h>
#include <rosgraph_msgs/Clock.h>
#include <std_msgs/String.h>

#include <LSM.hh>
#include <NeuronType.hh>

#include <iostream>
#include <nemo.hpp>

#include <vision/RF.h>
#include <vision/RF_value.h>

class NN_Controller {

protected:
  ros::NodeHandle nh_;
  LSM *lsm_;

  ros::Subscriber clock_sub_;
  ros::Subscriber rf_sub_;

public:
  NN_Controller();
  ~NN_Controller();

  void step(const rosgraph_msgs::Clock::ConstPtr& t);

  void updateRF(const ros::MessageEvent<vision::RF const>& event, const std::string& topic);
  void addReceptiveField(std::string RFTopic, int x, int y);

private:
  long int prev_nsec_;
};

#endif
